CN114415662B

CN114415662B - Intelligent robot obstacle avoidance method and device

Info

Publication number: CN114415662B
Application number: CN202111533754.XA
Authority: CN
Inventors: 黄志彬; 冯嘉鹏; 钟舒哲; 贝燊; 吴玉玲; 傅伟锋; 杨林坚
Original assignee: Guangzhou Vk Robot Co ltd
Current assignee: Guangzhou Vk Robot Co ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2023-10-17
Anticipated expiration: 2041-12-15
Also published as: CN114415662A

Abstract

The application discloses an intelligent robot obstacle avoidance method and device, comprising the following steps: detecting obstacles in multiple directions of the robot by adopting ultrasonic waves, and calculating a first distance between the robot and the obstacle; if the first distance is smaller than the preset first safety distance, executing an ultrasonic obstacle avoidance strategy; if the first distance is greater than or equal to a preset first safety distance, detecting obstacles in multiple directions of the robot by using a laser radar, and calculating a second distance between the robot and the obstacles; if the second distance is larger than or equal to the preset first safety distance and smaller than the preset second safety distance, executing a laser radar obstacle avoidance strategy; and if the second distance is greater than or equal to the preset second safety distance, the robot moves forward according to the original planned route. The application selects the matching mode of ultrasonic detection and laser radar detection and can be suitable for robot obstacle avoidance under various different environments.

Description

Intelligent robot obstacle avoidance method and device

Technical Field

The application relates to the technical field of robot obstacle avoidance, in particular to an intelligent robot obstacle avoidance method and device.

Background

With the use of robots in factories, warehouses, hotels, shops, restaurants, etc., people pay more attention to the mobility of robots, so that obstacle avoidance becomes an extremely critical and necessary function. It is expected that the robot can sense static or dynamic objects which prevent the robot from passing through the sensor in the walking process according to the collected state information of the obstacle, then effectively avoid the obstacle according to a certain method, and finally reach the target point.

The necessary condition for realizing obstacle avoidance is environmental perception, and the obstacle avoidance needs to acquire surrounding environment information including information such as the size, shape and position of the obstacle through a sensor in an unknown or partially unknown environment, so that the sensor ranging technology plays an important role in the obstacle avoidance of the mobile robot.

Disclosure of Invention

The application provides an intelligent robot obstacle avoidance method and device, which can be suitable for robot obstacle avoidance under various different environments.

In view of this, a first aspect of the present application provides an intelligent robot obstacle avoidance method, the method comprising:

detecting obstacles in multiple directions of the robot by adopting ultrasonic waves, and calculating a first distance between the robot and the obstacles;

if the first distance is smaller than a preset first safety distance, executing an ultrasonic obstacle avoidance strategy;

if the first distance is greater than or equal to the preset first safety distance, detecting obstacles in multiple directions of the robot by using a laser radar, and calculating a second distance between the robot and the obstacles;

if the second distance is larger than or equal to the preset first safety distance and smaller than the preset second safety distance, executing a laser radar obstacle avoidance strategy;

And if the second distance is greater than or equal to the preset second safety distance, the robot moves forward according to the original planned route.

Optionally, the detecting the obstacle in multiple directions by using ultrasonic waves and calculating a first distance between the robot and the obstacle include:

the method comprises the steps of respectively measuring whether the right front, left side and right side of the robot are provided with obstacles by adopting ultrasonic sensors at the right front, left side and right side of the robot, and calculating a first distance between the robot and the obstacles, wherein the first distance comprises the distance between the robot and the right front obstacle, the left side obstacle and the right side obstacle.

Optionally, if the first distance is smaller than a preset first safety distance, an ultrasonic obstacle avoidance strategy is executed, specifically:

if the distances between the robot and the right front obstacle, the left obstacle and the right obstacle are smaller than the preset first safety distance, the robot is directly moved after being turned for 180 degrees in situ;

if the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are smaller than the preset first safety distance, and the distance between the robot and the obstacle right in front of the robot are larger than or equal to the preset first safety distance, the robot continues to move forwards and straightly;

If the distance between the robot and the left obstacle is smaller than the preset first safety distance, and the distance between the robot and the right obstacle is larger than or equal to the preset first safety distance, the robot rotates a preset radian to the right and then moves forwards and straightly;

if the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are smaller than the preset first safety distance, and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance, the robot rotates rightwards quickly for a preset radian and then moves straight;

if the distance between the robot and the right obstacle is smaller than the preset first safety distance, and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance, the robot rotates left by a preset radian and then moves straight;

if the distance between the robot and the right obstacle and the distance between the robot and the right obstacle are smaller than the preset first safety distance, and the distance between the robot and the left obstacle are larger than or equal to the preset first safety distance, the robot rotates left by a preset radian and then moves straight;

if the distance between the robot and the obstacle right in front is smaller than the preset first safety distance, the distance between the robot and the right obstacle and the left obstacle is larger than or equal to the preset first safety distance; when the distance between the left obstacle and the right obstacle is larger than the distance between the left obstacle and the right obstacle, the left obstacle rotates by a preset radian and then moves straight; when the distance between the left obstacle and the right obstacle is smaller than the distance between the left obstacle and the right obstacle, the right obstacle rotates to the right by a preset radian and then moves straight.

Optionally, if the first distance is greater than or equal to the preset first safety distance, detecting obstacles in multiple directions of the robot by using a laser radar, and calculating a second distance between the robot and the obstacle, including:

when the ultrasonic detection robot is adopted to detect the annoyance first distance between the robot and the obstacles in multiple directions is larger than or equal to the preset first safety distance;

then a laser radar is adopted to detect whether an obstacle exists in front of the robot by-90 degrees to 90 degrees, the second distance between the robot and the obstacle is calculated, the distance between the robot and the obstacle is-90 degrees to-45 degrees to be 1 zone, -45 degrees to 0 degrees to be 2 zone, 0 degrees to 45 degrees to be 3 zone, and 45 degrees to 90 degrees to be 4 zone.

Optionally, if the second distance is greater than or equal to the preset first safety distance and less than the preset second safety distance, executing a laser radar obstacle avoidance strategy, including:

when the measured actual minimum distance value between the obstacle existing in the 1 area and the robot is smaller than the preset second safety distance, the actual minimum distances between the obstacle in the other three areas and the robot are all larger than the preset second safety distance, the robot rotates left in situ by a preset angle;

when the measured actual minimum distance value between the obstacle existing in the 4 areas and the robot is smaller than the preset second safety distance, the actual minimum distances between the obstacle in the other three areas and the robot are all larger than the preset second safety distance, and the robot rotates in situ by a preset angle;

When the practical minimum distance value between the obstacle existing in the zone 1 and the practical minimum distance value between the obstacle existing in the robot in the zone 4 and the practical minimum distance between the obstacle existing in the zone 2 and the robot are smaller than the preset second safety distance value, the practical minimum distances between the obstacle existing in the zone 3 and the practical minimum distance between the obstacle existing in the robot and the robot existing in the zone 4 are larger than the preset second safety distance, and the robot rotates left and right in situ by a preset angle;

when the measured actual minimum distance value between the obstacle existing in the areas 3 and 4 and the robot is smaller than the preset second safety distance value, the actual minimum distance between the obstacle existing in the area 1 and the robot in the area 2 is larger than the preset second safety distance, and the robot rapidly rotates to the right in situ by a preset angle;

when the actual minimum distance value between the obstacle existing in the zone 2 and the robot is smaller than the preset second safety distance value, the actual minimum distances between the obstacle of the other three zones and the robot are all larger than the preset second safety distance, and the robot rotates left by a preset angle;

when the actual minimum distance value between the obstacle existing in the 3 area and the robot is smaller than the preset second safety distance value, the actual minimum distances between the obstacle existing in the other three areas and the robot are all larger than the preset second safety distance, and the robot rotates to the right by a preset angle;

When the actual minimum distance value between the obstacle existing in the zone 2 and the obstacle existing in the zone 3 and the robot is smaller than the preset second safety distance value, the actual minimum distance between the obstacle existing in the zone 1 and the obstacle existing in the zone 4 and the robot is larger than the preset second safety distance, and the actual minimum distance between the obstacle existing in the zone 2 and the robot is larger than the actual minimum distance between the obstacle in the zone 3 and the robot, the robot rotates right by a preset angle;

when the actual minimum distance value between the obstacle in the zone 2 and the obstacle in the zone 3 and the robot is smaller than the preset second safety distance value, the actual minimum distance between the obstacle in the zone 1 and the obstacle in the zone 4 and the robot is larger than the preset second safety distance, and the actual minimum distance between the obstacle in the zone 2 and the robot is smaller than the actual minimum distance between the obstacle in the zone 3 and the robot, the robot rotates left by a preset angle;

when the actual minimum distance value between the obstacle in the 1 region and the robot is larger than the preset second safety distance value, the actual minimum distances between the obstacle in the other three regions and the robot are smaller than the preset second safety distance, and the robot rotates to the right by a preset angle;

when the actual minimum distance value between the obstacle in the 4 areas and the robot is larger than the preset second safety distance value, the actual minimum distances between the obstacle in the other three areas and the robot are smaller than the preset second safety distance, and the robot rotates left by a preset angle;

When the actual minimum distance value between the obstacle in the four areas and the robot is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle in the 1 area and the robot is larger than the actual minimum distance value between the obstacle in the 4 area and the robot, the robot rotates to the right by a preset angle;

and when the actual minimum distance value between the obstacle in the four areas and the robot is smaller than the preset second safety distance value and the actual minimum distance value between the obstacle in the 1 area and the robot is smaller than the actual minimum distance value between the obstacle in the 4 area and the robot, the robot rotates left by a preset angle.

A second aspect of the present application provides an intelligent robot obstacle avoidance apparatus, the apparatus comprising:

an ultrasonic ranging unit for detecting obstacles in multiple directions of the robot by ultrasonic waves and calculating a first distance between the robot and the obstacles;

the first execution unit is used for executing an ultrasonic obstacle avoidance strategy if the first distance is smaller than a preset first safety distance;

the laser radar ranging unit is used for detecting obstacles in multiple directions of the robot by adopting a laser radar and calculating a second distance between the robot and the obstacles if the first distance is larger than or equal to the preset first safety distance;

The second execution unit is used for executing a laser radar obstacle avoidance strategy if the second distance is larger than or equal to the preset first safety distance and smaller than the preset second safety distance;

and the third execution unit is used for enabling the robot to move forward according to the original planned route if the second distance is greater than or equal to the preset second safety distance.

Optionally, the ultrasonic ranging unit is specifically configured to measure whether an obstacle exists in front of, on the left side of, and on the right side of the robot by using ultrasonic sensors in front of, on the left side of, and on the right side of the robot, respectively, and calculate a first distance between the robot and the obstacle, where the first distance includes a distance between the robot and the obstacle in front of, on the left side of, and on the right side of the robot.

Optionally, the first execution unit includes:

the first running unit is used for turning the robot in situ for 180 degrees and then directly running when the distances between the robot and the right obstacle, the left obstacle and the right obstacle are smaller than the preset first safety distance;

the second running unit is used for enabling the robot to continuously go forward and go straight when the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance and the distance between the robot and the right obstacle are smaller than the preset first safety distance;

The third running unit is used for enabling the robot to rotate rightwards by a preset radian and then to move forwards and straightly when the distance between the robot and the left obstacle is smaller than the preset first safety distance and the distance between the robot and the right obstacle is larger than or equal to the preset first safety distance;

the fourth running unit is used for enabling the robot to rotate rightwards and rapidly by a preset radian and then to move straight when the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are smaller than the preset first safety distance and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance;

the fifth running unit is used for enabling the robot to rotate left for a preset radian and then to move straight when the distance between the robot and the right obstacle is smaller than the preset first safety distance and the distance between the robot and the right obstacle is larger than or equal to the preset first safety distance;

the sixth running unit is used for enabling the robot to rotate left for a preset radian and then to move straight when the distance between the robot and the right obstacle and the distance between the robot and the right obstacle are smaller than the preset first safety distance and the distance between the robot and the left obstacle are larger than or equal to the preset first safety distance;

a seventh operation unit configured to, when the distance between the robot and the obstacle in front is smaller than the preset first safety distance, make the distance between the robot and the right obstacle and the left obstacle greater than or equal to the preset first safety distance; when the distance between the left obstacle and the right obstacle is larger than the distance between the left obstacle and the right obstacle, the left obstacle rotates for a preset radian and then moves straight; when the distance between the right obstacle and the left obstacle is smaller than that between the right obstacle and the left obstacle, the right obstacle rotates to the right by a preset radian and then moves straight.

Optionally, the laser radar ranging unit is specifically configured to detect, when a first distance between the robot and the obstacle in multiple directions is greater than or equal to the preset first safety distance; then a laser radar is adopted to detect whether an obstacle exists in front of the robot by-90 degrees to 90 degrees, and the second distance between the robot and the obstacle is calculated by-90 degrees to- -

45 degrees are 1 zone, -45 degrees to 0 degrees are 2 zones, 0 degrees to 45 degrees are 3 zones, and 45 degrees to 90 degrees are 4 zones.

Optionally, the second execution unit includes:

the first rotating unit is used for rotating the robot left in situ by a preset angle when the measured actual minimum distance value between the obstacle existing in the area 1 and the robot is smaller than the preset second safety distance and the actual minimum distances between the obstacle in the other three areas and the robot are all larger than the preset second safety distance;

the second rotating unit is used for rotating the preset angle right in situ when the measured actual minimum distance value between the obstacle existing in the 4 areas and the robot is smaller than the preset second safety distance and the actual minimum distances between the obstacle in the other three areas and the robot are all larger than the preset second safety distance;

the third rotating unit is used for rotating the robot to the left and the right in situ by a preset angle when the measured actual minimum distance value between the obstacle existing in the area 1 and the obstacle existing in the area 2 and the robot is smaller than the preset second safety distance value and the actual minimum distance between the obstacle existing in the area 3 and the obstacle existing in the area 4 and the robot is larger than the preset second safety distance;

The fourth rotating unit is used for rotating the robot to the right and the left in situ by a preset angle when the measured actual minimum distance value between the obstacle existing in the areas 3 and 4 and the robot is smaller than the preset second safety distance value and the actual minimum distance between the obstacle existing in the area 1 and the area 2 and the robot is larger than the preset second safety distance;

a fifth rotating unit, configured to rotate the robot left by a preset angle when the actual minimum distance between the obstacle and the robot in the area 2 is smaller than the preset second safety distance value and the actual minimum distances between the obstacle and the robot in the other three areas are all larger than the preset second safety distance;

a sixth rotating unit, configured to, when the actual minimum distance value between the obstacle existing in the 3 regions and the robot is smaller than the preset second safety distance value, rotate the robot to the right by a preset angle if the actual minimum distances between the obstacle existing in the other three regions and the robot are all greater than the preset second safety distance;

a seventh rotating unit, configured to, when the actual minimum distance value between the obstacle existing in the 2 area and the obstacle existing in the 3 area and the robot is smaller than the preset second safety distance value, the actual minimum distance between the obstacle existing in the 1 area and the obstacle existing in the 4 area and the robot is larger than the preset second safety distance, and the actual minimum distance between the obstacle existing in the 2 area and the robot is larger than the actual minimum distance between the obstacle in the 3 area and the robot, rotate the robot to the right by a preset angle;

An eighth rotating unit, configured to rotate the robot left by a preset angle when the actual minimum distance between the obstacle in the 2 area and the obstacle in the 3 area and the robot is smaller than the preset second safety distance, and the actual minimum distance between the obstacle in the 1 area and the obstacle in the 4 area and the robot is larger than the preset second safety distance, and the actual minimum distance between the obstacle in the 2 area and the robot is smaller than the actual minimum distance between the obstacle in the 3 area and the robot;

a ninth rotating unit, configured to, when the actual minimum distance value between the obstacle and the robot in only 1 area is greater than the preset second safety distance value, make the actual minimum distances between the obstacle and the robot in the remaining three areas smaller than the preset second safety distance, and make the robot rotate right by a preset angle;

a tenth rotation unit, configured to rotate the robot left by a preset angle when only the actual minimum distance value between the obstacle in the 4 areas and the robot is greater than the preset second safety distance value and the actual minimum distances between the obstacle in the other three areas and the robot are all smaller than the preset second safety distance;

an eleventh rotation unit, configured to, when the actual minimum distance value between the obstacle and the robot in the four zones is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle and the robot in the zone 1 is greater than the actual minimum distance value between the obstacle and the robot in the zone 4, rotate the robot to the right by a preset angle;

And a twelfth rotation unit, configured to rotate the robot left by a preset angle when the actual minimum distance value between the obstacle and the robot in the four zones is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle and the robot in the 1 zone is smaller than the actual minimum distance value between the obstacle and the robot in the 4 zone.

From the above technical scheme, the application has the following advantages:

the application provides an intelligent robot obstacle avoidance method, which comprises the following steps: detecting obstacles in multiple directions of the robot by adopting ultrasonic waves, and calculating a first distance between the robot and the obstacle; if the first distance is smaller than the preset first safety distance, executing an ultrasonic obstacle avoidance strategy; if the first distance is greater than or equal to a preset first safety distance, detecting obstacles in multiple directions of the robot by using a laser radar, and calculating a second distance between the robot and the obstacles; if the second distance is larger than or equal to the preset first safety distance and smaller than the preset second safety distance, executing a laser radar obstacle avoidance strategy; and if the second distance is greater than or equal to the preset second safety distance, the robot moves forward according to the original planned route.

According to the application, firstly, the position of an obstacle in the close range of the robot is detected through ultrasonic waves, the distance between the obstacle and the robot is calculated, and when the distance between the obstacle and the robot is smaller than the safe distance, the deflection of the robot is controlled in time, so that the robot can avoid the scenes of objects such as glass, mirror surfaces and the like; when no obstacle exists in the short-distance range, the laser radar can be used for measuring, the obstacle in a larger range is measured, the measuring precision is higher, the robot can perform quick feedback, and the obstacle avoidance of the robot with high precision is completed.

Drawings

FIG. 1 is a flow chart of an intelligent robot obstacle avoidance method according to one embodiment of the present application;

FIG. 2 is a device block diagram of one embodiment of an intelligent robotic obstacle avoidance apparatus of the present application;

FIG. 3 is a schematic diagram of ultrasonic ranging in an embodiment of the present application;

FIG. 4 is a schematic circuit diagram of a lidar ranging circuit in an embodiment of the present application;

FIG. 5 is a schematic diagram of the principle of triangulation of laser sensor ranging in an embodiment of the present application;

fig. 6 is a schematic diagram of a corresponding laser radar obstacle avoidance area when laser radar ranging is adopted in an embodiment of the application.

Detailed Description

The principle of ultrasonic ranging is shown in the following figure 3, the transmitting end of ultrasonic transmits a beam of ultrasonic, the ultrasonic transmitted propagates in a medium while the ultrasonic is transmitted, the ultrasonic has reflection characteristic, the ultrasonic is reflected when encountering an obstacle, and the timing is stopped when the receiving end of the ultrasonic receives the reflected ultrasonic. When the medium is air, the sound velocity is 340m/s, and the distance L between the transmitting position and the obstacle is calculated by utilizing a formula according to the recorded time t.

L＝340t/2

The ultrasonic sensor generally has a short working distance, and the common effective detection distance is several meters, but has a minimum detection blind area of about tens of millimeters. In addition, the measuring period of the ultrasonic wave is long, for example, an object of about 3 meters, and the transmission of the acoustic wave over such a distance requires about 20 ms. Furthermore, the reflection or attraction of the different materials to the sound wave is different, and the ultrasonic sensors may interfere with each other, so that the anti-interference capability is poor. However, the ultrasonic sensor can identify objects such as glass and mirror which are difficult to identify by the laser radar.

The schematic circuit diagram of the laser radar is shown in fig. 4, and includes a transmitter and a receiver, the transmitter irradiates the target with laser light, and the receiver receives the returned light wave. The mechanical lidar also includes a mechanical mechanism with a mirror that rotates so that the beam covers a plane and distance information on the plane can be measured.

The laser obstacle avoidance is similar to infrared rays, and is also emitted and then received. There are many ways of measuring the laser sensor, there are a schematic diagram 5 of the principle of triangulation like infrared, and there are time differences + speeds like ultrasonic. The measurement formula is as follows:

d＝f×s/(L×sinβ)

regardless of the mode, the precision, feedback speed, anti-interference capability and effective range of the laser obstacle avoidance are superior to those of infrared and ultrasonic waves.

The measuring distance of the laser radar can reach tens of meters or even hundreds of meters, the angle resolution is high, the measuring distance can reach a few tenths of degrees, and the ranging accuracy is high. However, blackbody or long-range object distance measurements are not as well estimated as bright, short-range objects, and lidar is not as powerful for transparent materials such as glass. The cost of the laser radar is also high due to the complex structure and high device cost.

In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Fig. 1 is a flowchart of a method of an embodiment of an obstacle avoidance method of an intelligent robot according to the present application, as shown in fig. 1, where fig. 1 includes:

101. detecting obstacles in multiple directions of the robot by adopting ultrasonic waves, and calculating a first distance between the robot and the obstacle;

it should be noted that an ultrasonic ranging sensor may be used to measure obstacles in a plurality of directions around the robot and calculate the distance between the robot and the obstacle.

In a specific embodiment, the ultrasonic sensors of the right front, left side and right side of the robot may be used to measure whether there is an obstacle in the right front, left side and right side of the robot, respectively, and calculate a first distance between the robot and the obstacle, the first distance including distances between the robot and the obstacle in the right front, left side and right side.

The ultrasonic ranging sensor is assumed to be connected with the motion controller, and data transmission is carried out with the motion controller in a serial communication mode. The motion controller reads the detection data of the ultrasonic ranging sensor, performs data conversion on the detection data, sends the data to the main controller through a serial port communication protocol, and calculates according to the acquired data by the main controller to obtain the distance between the obstacle and the robot.

102. If the first distance is smaller than the preset first safety distance, executing an ultrasonic obstacle avoidance strategy;

when the intelligent robot detects an obstacle along a straight line in the running process, a chassis control node (mobile_base) obtains ultrasonic ranging values in three directions, compares and analyzes the ranging values of the three ultrasonic waves with the safe distance value, and calculates the direction (left turn, right turn, turning around and straight running) and the speed of the intelligent robot bypassing the obstacle. When the distance between the robot and the obstacle is smaller than the preset safety distance, the robot needs to avoid the obstacle in time, and a specific obstacle avoidance strategy is as follows:

in a specific embodiment, if the distances between the robot and the right-side obstacle, the left-side obstacle and the right-side obstacle are all smaller than the preset first safety distance, the robot is directly moved after being turned for 180 degrees in situ;

if the distance between the robot and the left obstacle is smaller than the preset first safety distance, and the distance between the robot and the right obstacle is larger than or equal to the preset first safety distance, the robot rotates to the right by a preset radian and then moves forwards and straightly;

If the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are smaller than the preset first safety distance, and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance, the robot rotates to the right quickly by a preset radian and then moves straight;

103. If the first distance is greater than or equal to a preset first safety distance, detecting obstacles in multiple directions of the robot by using a laser radar, and calculating a second distance between the robot and the obstacles;

When the distance between the obstacle and the robot is greater than or equal to the safety distance of ultrasonic detection, that is, when no obstacle (including glass, mirror, etc.) exists in a short-distance range, the laser radar may be used to detect the obstacle in multiple directions of the robot, and calculate the second distance between the robot and the obstacle;

in a specific embodiment, when the ultrasonic detection robot is used for detecting the annoyance of the obstacle in a plurality of directions, the first distance is more than or equal to a preset first safety distance; then using laser radar to detect whether the robot has an obstacle at-90 DEG to 90 DEG, and calculating a second distance between the robot and the obstacle, wherein-90 DEG to-45 DEG is a 1 zone, -45 DEG to 0 DEG is a 2 zone, 0 DEG to 45 DEG is a 3 zone, and 45 DEG to 90 DEG is a 4 zone.

The laser radar sensor can be assumed to be connected with the motion controller, data transmission is carried out with the motion controller through a serial port communication mode, the motion controller reads detection data of the ultrasonic ranging sensor, data conversion is carried out on the detection data, the data are sent to the main controller through a serial port communication protocol, the main controller calculates the received data, and the actual minimum distance from the robot to the obstacle is calculated.

104. If the second distance is larger than or equal to the preset first safety distance and smaller than the preset second safety distance, executing a laser radar obstacle avoidance strategy;

it should be noted that, if the distance between the robot and the obstacle measured by the laser radar is greater than the safety distance corresponding to the ultrasonic measurement and less than the theoretical safety distance corresponding to the laser radar measurement, the laser radar obstacle avoidance strategy may be executed.

Since the range angle of the lidar is generally 0 to 360 °, the angle at which the scanning is started and the angle at which the scanning is ended need to be set according to actual use. As shown in fig. 6, the upper half of the figure is set to-90 ° to 90 ° assuming that a 180 ° ranging angle is used immediately in front of the laser radar. L1 is the intelligent robot transverse safety distance, which is larger than the radius r of the chassis, L2 is the intelligent robot longitudinal obstacle avoidance distance, and the longitudinal distance is smaller than the value and is divided into obstacle avoidance areas. According to the transverse/longitudinal safety distance of the safety obstacle avoidance, the laser radar angle detection values of the four areas are divided into 1, 2, 3 and 4, and the areas needing the obstacle avoidance are areas.

Determining a motion control strategy of the robot according to the relation between an actual minimum distance value detected by the laser radar and a preset second safety distance value (L/sin theta or L/cos theta) in the four areas, wherein the specific obstacle avoidance strategy is as follows:

When the measured actual minimum distance value between the obstacle existing in the 1 area and the robot is smaller than the preset second safety distance, and the actual minimum distances between the obstacle in the other three areas and the robot are all larger than the preset second safety distance, the robot rotates left in situ by a preset angle;

when the measured actual minimum distance value between the obstacle existing in the 4 areas and the robot is smaller than the preset second safety distance, the actual minimum distances between the obstacle in the other three areas and the robot are all larger than the preset second safety distance, and the robot rotates right in situ by a preset angle;

when the measured actual minimum distance value between the obstacle existing in the zone 1 and the zone 2 and the robot is smaller than the preset second safety distance value, the actual minimum distance between the obstacle existing in the zone 3 and the zone 4 and the robot is larger than the preset second safety distance, the robot rotates left and right quickly in situ by a preset angle;

when the measured actual minimum distance value between the obstacle existing in the areas 3 and 4 and the robot is smaller than the preset second safety distance value, the actual minimum distance between the obstacle existing in the area 1 and the area 2 and the robot is larger than the preset second safety distance, the robot rotates in situ right quickly by a preset angle;

when the actual minimum distance value between the obstacle existing in the zone 2 and the robot is smaller than the preset second safety distance value, the actual minimum distances between the obstacle in the other three zones and the robot are all larger than the preset second safety distance, and the robot rotates left by a preset angle;

when the actual minimum distance value between the obstacle existing in the zone 2 and the obstacle existing in the zone 3 and the robot is smaller than a preset second safety distance value, the actual minimum distance between the obstacle existing in the zone 1 and the obstacle existing in the zone 4 and the robot is larger than the preset second safety distance, and the actual minimum distance between the obstacle existing in the zone 2 and the robot is larger than the actual minimum distance between the obstacle in the zone 3 and the robot, the robot rotates to the right by a preset angle;

when the actual minimum distance value between the obstacle in the 1 region and the robot is larger than the preset second safety distance value, the actual minimum distances between the obstacle in the other three regions and the robot are smaller than the preset second safety distance, and the robot rotates right by a preset angle;

when the actual minimum distance value between the obstacle and the robot in the four areas is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle and the robot in the 1 area is larger than the actual minimum distance between the obstacle and the robot in the 4 areas

The value, the robot rotates right a preset angle;

when the actual minimum distance value between the obstacle and the robot in the four areas is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle and the robot in the 1 area is smaller than the actual minimum distance between the obstacle and the robot in the 4 areas

And (3) the robot rotates left by a preset angle.

105. And if the second distance is greater than or equal to the preset second safety distance, the robot moves forward according to the original planned route.

It should be noted that, when no obstacle exists in a certain distance range around the robot, the robot may perform the original task according to the normal planned route.

The application also provides an embodiment of the intelligent robot obstacle avoidance apparatus, as shown in fig. 2, wherein fig. 2 includes:

an ultrasonic ranging unit 201 for detecting obstacles in a plurality of directions of the robot using ultrasonic waves and calculating a first distance between the robot and the obstacle;

the first execution unit 202 is configured to execute an ultrasonic obstacle avoidance policy if the first distance is smaller than a preset first safety distance;

the laser radar ranging unit 203 is configured to detect obstacles in multiple directions of the robot by using a laser radar if the first distance is greater than or equal to a preset first safety distance, and calculate a second distance between the robot and the obstacle;

the second execution unit 204 is configured to execute the laser radar obstacle avoidance strategy if the second distance is greater than or equal to the preset first safety distance and less than the preset second safety distance;

and the third execution unit 205 is configured to, if the second distance is greater than or equal to the preset second safety distance, move the robot forward according to the original planned route.

In a specific embodiment, the ultrasonic ranging unit is specifically configured to measure whether an obstacle exists in front of, on the left side of, and on the right side of the robot using ultrasonic sensors in front of, on the left side of, and on the right side of the robot, respectively, and calculate a first distance between the robot and the obstacle, the first distance including distances between the robot and the obstacle in front of, on the left side of, and on the right side of the robot.

In a specific embodiment, the first execution unit 202 includes:

the second running unit is used for enabling the robot to continue to move forwards and straightly when the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance and the distance between the robot and the right obstacle are smaller than the preset first safety distance;

the third running unit is used for enabling the robot to rotate rightwards by a preset radian and then to move forwards and straightly when the distance between the robot and the left obstacle is smaller than a preset first safety distance and the distance between the robot and the right obstacle is larger than or equal to the preset first safety distance;

the fourth running unit is used for enabling the robot to rotate rightwards quickly by a preset radian and then to move straight when the distance between the robot and the left obstacle and the distance between the robot and the right obstacle are smaller than a preset first safety distance and the distance between the robot and the right obstacle are larger than or equal to the preset first safety distance;

the fifth running unit is used for enabling the robot to rotate left for a preset radian and then to move straight when the distance between the robot and the right obstacle is smaller than a preset first safety distance and the distance between the robot and the right obstacle is larger than or equal to the preset first safety distance;

The sixth running unit is used for enabling the robot to rotate left for a preset radian and then to move straight when the distance between the robot and the right obstacle and the distance between the robot and the right obstacle are smaller than a preset first safety distance and the distance between the robot and the left obstacle are larger than or equal to the preset first safety distance;

a seventh operation unit for, when the distance between the robot and the obstacle in front is smaller than a preset first safety distance, making the distance between the robot and the right obstacle and the left obstacle larger than or equal to the preset first safety distance; when the distance between the left obstacle and the right obstacle is larger than the distance between the left obstacle and the right obstacle, the left obstacle rotates for a preset radian and then moves straight; when the distance between the right obstacle and the left obstacle is smaller than that between the right obstacle and the left obstacle, the right obstacle rotates to the right by a preset radian and then moves straight.

In a specific embodiment, the laser radar ranging unit 203 is specifically configured to detect, when the first distance between the robot and the obstacle in multiple directions is greater than or equal to a preset first safety distance; then using laser radar to detect whether the robot has an obstacle at-90 DEG to 90 DEG, and calculating a second distance between the robot and the obstacle, wherein-90 DEG to-45 DEG is a 1 zone, -45 DEG to 0 DEG is a 2 zone, 0 DEG to 45 DEG is a 3 zone, and 45 DEG to 90 DEG is a 4 zone.

In a specific embodiment, the second execution unit 204 includes:

the first rotating unit is used for rotating the robot left in situ by a preset angle when the measured actual minimum distance value between the obstacle in the 1 region and the robot is smaller than the preset second safety distance and the actual minimum distances between the obstacle in the other three regions and the robot are all larger than the preset second safety distance;

the second rotating unit is used for rotating the robot to the right in situ by a preset angle when the measured actual minimum distance value between the obstacle existing in the 4 areas and the robot is smaller than the preset second safety distance and the actual minimum distances between the obstacle in the other three areas and the robot are larger than the preset second safety distance;

the third rotating unit is used for quickly rotating the robot to the left in situ by a preset angle when the measured actual minimum distance value between the obstacle existing in the zone 1 and the obstacle existing in the zone 2 and the robot is smaller than the preset second safety distance value and the actual minimum distance between the obstacle existing in the zone 3 and the obstacle existing in the zone 4 and the robot is larger than the preset second safety distance;

the fourth rotating unit is used for quickly rotating the robot to the right in situ by a preset angle when the measured actual minimum distance value between the obstacle existing in the areas 3 and 4 and the robot is smaller than the preset second safety distance value and the actual minimum distance between the obstacle existing in the area 1 and the area 2 and the robot is larger than the preset second safety distance;

A fifth rotating unit, configured to rotate the robot left by a preset angle when the actual minimum distance between the obstacle and the robot in the region 2 is smaller than a preset second safety distance value and the actual minimum distances between the obstacle and the robot in the other three regions are all greater than the preset second safety distance;

a sixth rotating unit, configured to, when the actual minimum distance value between the obstacle existing in the 3 regions and the robot is smaller than the preset second safety distance value, rotate the robot to the right by a preset angle when the actual minimum distances between the obstacle existing in the other three regions and the robot are all greater than the preset second safety distance;

an eighth rotating unit, configured to rotate the robot left by a preset angle when the actual minimum distance between the obstacle in the 2 area and the obstacle in the 3 area and the robot is smaller than a preset second safety distance value, and the actual minimum distance between the obstacle in the 1 area and the obstacle in the 4 area and the robot is larger than the preset second safety distance, and the actual minimum distance between the obstacle in the 2 area and the robot is smaller than the actual minimum distance between the obstacle in the 3 area and the robot;

A ninth rotation unit for setting the actual minimum distance between the obstacle and the robot in the three zones smaller than the preset second safety distance when the actual minimum distance between the obstacle and the robot in the zone 1 is larger than the preset second safety distance

Separating, and rotating the robot to the right by a preset angle;

a tenth rotation unit, configured to rotate the robot left by a preset angle when only the actual minimum distance value between the obstacle in the 4 areas and the robot is greater than a preset second safety distance value and the actual minimum distances between the obstacle in the other three areas and the robot are all smaller than the preset second safety distance;

an eleventh rotation unit, configured to, when the actual minimum distance value between the obstacle and the robot in the four areas is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle and the robot in the 1 area is greater than the actual minimum distance value between the obstacle and the robot in the 4 areas, rotate the robot to the right by a preset angle;

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

The terms "first," "second," "third," "fourth," and the like in the description of the application and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent robot obstacle avoidance method, comprising:

If the second distance is greater than or equal to the preset second safety distance, the robot moves forward according to the original planned route;

if the first distance is greater than or equal to the preset first safety distance, detecting obstacles in multiple directions of the robot by using a laser radar, and calculating a second distance between the robot and the obstacles, wherein the method comprises the following steps:

when the first distance between the ultrasonic detection robot and the barriers in multiple directions is greater than or equal to the preset first safety distance;

detecting whether an obstacle exists in front of the robot by-90 degrees by adopting a laser radar, and calculating the second distance between the robot and the obstacle, wherein-90-45 degrees are 1 areas, -45-0 degrees are 2 areas, 0-45 degrees are 3 areas, and 45-90 degrees are 4 areas;

and if the second distance is greater than or equal to the preset first safety distance and smaller than the preset second safety distance, executing a laser radar obstacle avoidance strategy, wherein the method comprises the following steps:

when the actual minimum distance value between the obstacle in the four areas and the robot is smaller than the preset second safety distance value, and the actual minimum distance value between the obstacle in the 1 area and the robot is smaller than the actual minimum distance value between the obstacle in the 4 area and the robot, the robot rotates left by a preset angle;

adopt intelligent robot keeps away barrier device of barrier method, its characterized in that includes:

the first execution unit is used for executing an ultrasonic obstacle avoidance strategy if the first distance is smaller than a preset first safety distance; the laser radar ranging unit is used for detecting obstacles in multiple directions of the robot by adopting a laser radar and calculating a second distance between the robot and the obstacles if the first distance is larger than or equal to the preset first safety distance;

the third execution unit is used for enabling the robot to move forward according to the original planned route if the second distance is larger than or equal to the preset second safety distance;

adopt intelligent robot keeps away barrier device of barrier method, its characterized in that, the second execution unit includes:

2. The intelligent robot obstacle avoidance method of claim 1 wherein said employing ultrasonic waves to detect obstacles in multiple directions of the robot and calculating a first distance between the robot and said obstacle comprises:

3. The intelligent robot obstacle avoidance method of claim 2, wherein if the first distance is smaller than a preset first safety distance, executing an ultrasonic obstacle avoidance strategy, specifically:

4. The intelligent robot obstacle avoidance method of claim 1, wherein the ultrasonic ranging unit is specifically configured to measure whether there is an obstacle in front of, left of, and right of the robot using ultrasonic sensors in front of, left of, and right of the robot, respectively, and calculate a first distance between the robot and the obstacle, the first distance including distances between the robot and the obstacle in front of, left of, and right of the robot.

5. The intelligent robotic obstacle avoidance method of claim 4, wherein the first execution unit comprises:

6. The intelligent robot obstacle avoidance method of claim 1, wherein the lidar ranging unit is specifically configured to detect when a first distance between the robot and the plurality of directional obstacles is greater than or equal to the preset first safety distance by using ultrasonic waves; then a laser radar is adopted to detect whether an obstacle exists in front of the robot by-90 degrees to 90 degrees, the second distance between the robot and the obstacle is calculated, the distance between the robot and the obstacle is-90 degrees to-45 degrees to be 1 zone, -45 degrees to 0 degrees to be 2 zone, 0 degrees to 45 degrees to be 3 zone, and 45 degrees to 90 degrees to be 4 zone.